Adjustable height sensor roof

ABSTRACT

A vehicle may include a movable roof, a sensor supported by the roof, and an actuator for selectively raising and lowering the roof.

The present application is a US nonprovisional application claimingpriority from co-pending U.S. provisional patent application Ser. No.62/964,583 filed on Jan. 22, 2020 by Penmetsa et al. and entitledADJUSTABLE HEIGHT SENSOR ROOF, the full disclosure of which is herebyincorporated by reference. The present application further claimspriority under 35 USC § 120 from co-pending U.S. nonprovisionalapplication Ser. No. 17/114,231 filed on Dec. 7, 2020 by Whitney et al.and entitled VEHICLE CONTROL BY A REMOTE OPERATOR which claims priorityunder 35 USC § 119 from co-pending U.S. provisional patent applicationSer. No. 62/962,752 filed on Jan. 17, 2020, the full disclosures each ofwhich are hereby incorporated by reference.

BACKGROUND

Vehicles, such as tractors and the like, often include roofs to protectan operator seated below the roof. Some vehicles additionally includesensors for sensing the surroundings of the vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A and 1B are diagrams schematically illustrating an examplevehicle with an adjustable sensor supporting roof at different heights.

FIG. 2 is a diagram schematically illustrating portions of an examplevehicle.

FIG. 3 is a diagram schematically illustrating portions of one exampleimplementation of the vehicle of FIG. 2.

FIG. 4 is a diagram schematically illustrating portions of one exampleimplementation of the vehicle of FIG. 2.

FIG. 5 is a diagram schematically illustrating portions of one exampleimplementation of the vehicle of FIG. 2.

FIG. 6 is a diagram schematically illustrating portions of one exampleimplementation of the vehicle of FIG. 2.

FIG. 7 is a block diagram schematically illustrating an examplenon-transitory computer-readable medium for the vehicle of FIG. 2.

FIG. 8 is a flow diagram of an example actuatable roof control method.

FIG. 9 is a block diagram schematically illustrating an examplenon-transitory computer-readable medium for the vehicle of FIG. 2.

FIG. 10 is a flow diagram of an example actuatable roof control method.

FIG. 11A is a perspective view of an example vehicle having a heightadjustable sensor supporting roof in a raised position.

FIG. 11B is a side view of the vehicle of FIG. 11A with the roof in theraised position.

FIG. 11C is a side view of the vehicle of FIG. 11A with the roof in alowered position.

FIG. 12 is a front perspective view of an example vehicle having aheight adjustable sensor supporting roof.

FIG. 13 is a rear perspective view of the vehicle of FIG. 12.

FIG. 14 is a left side view of the vehicle of FIG. 12.

FIG. 15 is a bottom perspective view of the example vehicle of FIG. 14taken along line 15-15.

Throughout the drawings, identical reference numbers designate similar,but not necessarily identical, elements. The FIGS. are not necessarilyto scale, and the size of some parts may be exaggerated to more clearlyillustrate the example shown. Moreover, the drawings provide examplesand/or implementations consistent with the description; however, thedescription is not limited to the examples and/or implementationsprovided in the drawings.

DETAILED DESCRIPTION OF EXAMPLES

Disclosed are example actuatable roof control systems, methods andcontrol instructions that facilitate enhanced control over the height ofan actuatable roof. The example systems, methods and controlinstructions facilitate the automatic height adjustment of an actuatableroof based upon signals from sensors carried or supported by the roof.The example systems, methods and controls instructions may facilitateenhanced performance by the sensors by automatically adjusting theheight of the roof that supports the sensors based upon the sensedperformance of the sensors (which may include the quality of the dataacquired by such sensors) at individual heights. Such adjustment may bebased upon the height of surrounding foliage or surrounding crops.

The example systems, methods and control instructions may facilitatelower cost transport and storage of the vehicle by automaticallylowering the height of the roof in response to forthcoming obstructions,the sensed positioning of the vehicle on a trailer, the sensed towing ofthe vehicle or the sensed height of a storage facility opening orinterior.

Disclosed is an example vehicle which may comprise a chassis, groundmotive members supporting the chassis, a seat, a roof above the seat, aheight adjustable support supporting the roof, a sensor supported by theroof, and an actuator for selectively raising and lowering the roof.

Disclosed is an example roof control method that may comprise sensingsurroundings of a vehicle with a sensor supported by a roof of thevehicle and automatically adjusting a height of the roof based upon thesensed surroundings.

Disclosed is an example actuatable roof control method that may comprisesensing surroundings of a vehicle with a sensor supported by a roof ofthe vehicle at a first height, evaluating performance of the sensor atthe first height, and automatically moving the sensor to a secondheight, different than the first height, based upon the performance.

Disclosed is an example non-transitory computer-readable medium thatcontains instructions for directing a processor. The instructions maycomprise sensing instructions for directing the processor to obtainsignals from a sensor carried by a roof of a vehicle and indicatingcharacteristics of surroundings of the vehicle, height determininginstructions for directing the processor to determine a height for theroof based upon the signals, and roof actuation instructions fordirecting the processor to automatically output control signals causingan actuator to move the roof to the determined height.

FIGS. 1A and 1B schematically illustrates an example vehicle 20 with aroof supported at two different heights. Vehicle 20 may facilitateenhanced performance of sensors supported by the roof. Vehicle 20 mayfacilitate lower cost transport and storage by automatically loweringthe height of the roof in response to forthcoming obstructions, thesensed positioning of the vehicle on a trailer, the sensed towing of thevehicle or the sensed height of a storage facility opening or interior.Vehicle 20 comprises chassis 24, ground motive members 26, seat 28, roof30, height adjustable support 32, sensor 34 and actuator 38.

Chassis 24 comprises a base or frame of vehicle 20. Chassis 24 maycomprise a chassis of a tractor, the chassis of a harvester, the chassisof a truck, or the chassis of the other vehicle. Chassis 24 may includean internal combustion engine or an electric motor for powering groundmotive members 26.

Ground motive members 26 comprise members that movably support chassis24 above an underlying surface. In one implementation, ground motivemembers 26 comprise wheels. In another implementation, ground motivemembers 26 comprise tracks.

Seat 28 is supported by chassis 24 and is for supporting an operator onchassis 24. Seat 28 may extend adjacent to operator controls of vehicle20.

Roof 30 extends over or above seat 28. Roof 30 protects the operator 40resting upon seat 28 from sunlight, rain or the like. Roof 30 mayadditionally cover and protect operational controls of vehicle 20. Roof30 is movably supported by height adjustable support 32.

Height adjustable support 32 movably supports roof 30 between a raisedposition shown in FIG. 1A and a lowered position shown in FIG. 1B. Inone implementation, height adjustable support 32 supports roof 30 at aselected one of a plurality of distinct predetermined heights. Inanother implementation, height adjustable support 32 supports roof 30 atany of a continuum of different heights above seat 28. Height adjustablesupport 32 may have various forms such as telescopic tubes, a pivot, amultiple link pivot or a four bar linkage.

Sensor 34 comprises at least one sensor supported by roof 30 so as to bemovable with the movement of roof 30. Sensor 34 may sense thepositioning of roof 30. Sensor 34 may additionally or alternativelysense the surroundings to vehicle 20. For example, sensor 34 may outputsignals indicating a height of surroundings with respect to vehicle 20.In some implementations, sensor 34 may sense a height of foliage orcrops proximate to vehicle 20. Examples of sensor 34 include, but arenot limited to, an ocular camera, stereo cameras, time-of-flightcameras, thermal cameras, lidar, radar, sonar, initial measurementunits, magnetometers, weather sensors (temperature, humidity, pressureand the like) and electromagnetic sensors (sunlight, radio and thelike). In some implementations, sensor 34 may comprise a height sensorwhich may be in the form of an actuator encoder, mechanical travelsensor, an inertial measurement device or a roof perception sensor.

Actuator 38 comprise a device for selectively raising and lowering roof30 so as to also selectively raise and lower sensor 34. In someimplementations, actuator 38 may interact with height adjustment support32. Examples of actuator 38 include, but are not limited to, an electricmotor (rotary or linear), a hydraulic motor (cylinder motor) and apneumatic actuator (cylinder motor).

As shown by FIGS. 1A and 1B, roof 30 and sensor 34 are movable between araised position shown in FIG. 1A and a lower position shown in FIG. 1B.Lowering of roof 30 and sensor 34 to the lowered position may be inresponse to the vehicle being loaded onto a trailer for transport, inresponse to the height of a storage facility opening or interior beingapproached by the vehicle, the height of overhead trees or otherstructures and/or the height of surrounding full edge or crops. Thelowering roof 30 may be in response to the sensed departure of anoperator 40 from seat 28 and from chassis 24.

Raising of roof 30 and sensor 34 may be in response to an operatorboarding or about to board vehicle 20. Raising of roof 30 and sensor 34may be in response to the height of the surrounding full edge or crops,wherein the higher height of sensor 34 may facilitate enhanced sensingof subfolder crops by sensor 34. Such raising and lowering may bemanually triggered by an operator or may be automatically triggered by acontroller based upon signals received from sensor 34 or other sensors.

FIG. 2 is a schematic diagram illustrated portions of an example vehicle120. Vehicle 120 is similar to vehicle 20 described above except thatvehicle 120 additionally comprises sensor 135 and controller 150. Thoseremaining components of vehicle 120 corresponding components of vehicle20 are numbered similarly.

FIGS. 3-6 schematically illustrate various examples of height adjustablesupport 32, described above. FIG. 3 illustrates an implementationcomprising height adjustable support 32-1 in the form of telescopic barsor tubes 42, 43. In such an implementation, tube 43 extends and retractsinto and out of the larger outer tube 42 to raise and lower roof 30. Inone implementation, tubes 42, 43 may be in the form of a hydraulic orpneumatic piston-cylinder arrangement, or an actuator 38 comprisesvalves and a source of pressurized gas or fluid to extend and retracttube 43 (in the form of a piston).

FIG. 4 illustrates an implementation comprising height adjustablesupport 32-2 in the form of a single linkage 44 having a pair of pivotpoints 45. In such an implementation, actuator 38 may comprise a rotaryactuator to pivot linkage 44 or a linear actuator to pivot linkage 44 soas to raise or lower roof 30.

FIG. 5 illustrates an implementation comprising a height adjustablesupport 32-3 in the form of a pair of parallel linkages 46, 47 whichform a four bar linkage. The four bar linkage facilitates raising andlowering roof 30 while roof 30 remains level or in a single orientation.Actuator 38 may comprise a rotary actuator or linear actuator forraising and lowering roof 30.

FIG. 6 illustrates an implementation comprising a height adjustablesupport 32-4 in the form of multiple, consecutively linked and pivotablyconnected linkages 48, 49. Actuator 38 may comprise a rotary actuator orlinear actuator for pivoting links 48 and/or 49 to raise and lower roof30.

Sensor 135 comprises a sensor that detects the current height orextension of roof 30 (and sensor 34). In some implementations, sensor135 may comprise an actuator encoder, mechanical travel sensor, aninertial measurement device, or roof perception sensor. In someimplementations, sensor 135 may be omitted, wherein controller 150 maydetermine the current height of roof 30 based upon the prior controlsignals transmitted to actuator 38. In some implementations, sensor 135may be made aware of signals from sensor 34 which may themselvesindicate a height of roof 30.

Controller 150 controls the raising and lowering of roof 30 and sensor34. Controller 150 comprises a processor 152 and a non-transitorycomputer-readable medium 154. Processor 152 carries out instructionsprovided by medium 154. Medium 154 may be in the form of a circuit boardhaving logic components, the form of software having coded instructionsor combinations thereof.

FIG. 7 is a block diagram schematically illustrating one example ofmedium 154. As shown by FIG. 7, medium 154 comprises surrounding sensinginstructions 160, height determining instructions 162 and roof actuationinstructions 164. Surrounding sensing instructions 160 direct processor152 to output control signals causing sensor 135 and/or sensor 34 tosense the surroundings of vehicle 120. Such surroundings may comprisethe sensing of elevated or overhead structures 170, crop or foliage 172,trailer 174 and/or a different towing vehicle forward of vehicle 120.The overhead structure 170 may comprise the opening or clearance for anoverhead structure, such as an opening below an overpass or an entranceopening.

Height determining instructions 162 direct processor 152 to determine(a) the current height of roof 30 and/or (b) the height of thesurroundings being sensed pursuant to block 160. Height determininginstructions 162 may direct processor 152 to analyze images captured bysensor 34 or other signals from sensor 34 relative to the identifiedground or other reference location to determine the height of overheadstructure 170, and/or the height of the crop/foliage 172. For example,instructions 162 may cause processor 152 to determine a distance of theparticular overhead structure 170 relative to a known reference surfaceor structure of vehicle 120 using images captured by sensor 34 todetermine the height of overhead structure 170 and/or the height of thecrop/foliage 172. Sensor 134 may be supported at a particular height ina particular angle, wherein edge detection analysis may be applied toimages captured by sensor 34 to determine or estimate the height ofoverhead structure 170 and/or crop foliage 172.

Roof actuation instructions 164 direct processor 152 to output controlsignals causing actuator 38 to raise and lower roof 30 based uponsignals from sensor 34 and/or height determinations made pursuant toinstructions 162. In one implementation, roof actuation instructions 164may direct processor 152 to identify or determine whether vehicle 120 iscurrently residing on trailer 174 or is being towed by a forward vehiclefrom the signals received from sensor 34 or other sensors. For example,trailer 174 or the forward towing vehicle may include an RFID (radiofrequency) tag or some other identifying indicia indicating itspresence. In some implementations, processor 152 may analyze imagescaptured by sensor 34 so as to recognize the presence of trailer 174and/or a towing vehicle. In response to a determination that vehicle 120is probably residing on a trailer 174 or is currently being towed byanother vehicle, as determined by processor 152, roof actuationinstructions 164 may cause processor 152 to automatically output controlsignals to actuator 38 causing actuator 38 to lower roof 30 to a loweredor retracted state such as shown in FIG. 18. The lowered state mayreduce wind resistance and conserve fuel during the transport of vehicle120.

In some implementations, vehicle 120 may additionally include a seatoccupancy sensor 165 which senses the presence of an operator on seat28. In such an implementation, the lowering of roof 30 may beautomatically paused or terminated by controller 50 in response tosignals from sensor 165 indicating the presence of an operator 40 uponseat 28.

In one implementation, roof actuation instructions 164 may causeprocessor 152 to output control signals causing actuator 38 to raise orlower roof 30 based upon the determined height of the surroundings ofvehicle 120 as determined by controller 150 following the heightdetermining instructions 162. In one implementation, instructions 162may direct the processor 152 to output control signals causing actuator38 to automatically lower roof 30 and sensor 34 by a determined extentso as to clear the sensed overhead structure 170. In one implementation,roof 30 may be lowered to a lowermost position in response to adetermination that an upcoming overhead structure (ahead of vehicle 120when vehicle 120 s moving forward or behind vehicle 120 when vehicle 120is being backed up) may impact roof 30 or sensor 34. In oneimplementation, roof 30 may be lowered to a height above the lowermostposition, but low enough so as to clear the upcoming overhead structure.The height may be determined based upon the determine height of theoverhead structure. By not lowering roof 30 and sensor 34 to thelowermost position, but just to a position sufficient to clear (extendbeneath) the overhead obstacle or structure 170, time consumed duringthe subsequent raising of roof 30 and sensor 34 may be reduced.

In some implementations, roof actuation instructions 164 may causeprocessor 152 to output control signals causing actuator 38 to raise orlower roof 30 based upon the determined height of crop/foliage 172. Forexample, the sensing of the crop/foliage 172 may be best performed at aparticular relative height of sensor 34 with respect to the particularheight of the crop/foliage 172 being sensed. Raising roof 30 and sensor34 may result in a larger area of crop/foliage 172 being sensed or mayresult in enhanced sensing due to a different perspective provided tosensor 34. Lowering of roof 30 and sensor 34 may result in enhancedsensing by positioning sensor 34 into closer proximity with the top ofthe crop/foliage 172.

FIG. 8 is a block diagram of an example actuatable roof control method200 that may be carried out by vehicle 120 or other similar vehicles. Asindicated by block 204, the surroundings of a vehicle are sensed with asensor that is supported by a roof of the vehicle. As indicated by block208, the height of the roof is automatically adjusted based upon thesensed surroundings. Examples of the criteria for automatically raisingor lowering the roof are described above with respect to controller 150.

FIG. 9 is a block diagram schematically illustrating medium 354, anotherexample implementation of medium 154 described above. Medium 354comprises a non-transitory computer-readable medium for directingprocessor 152 of vehicle 122 carry out actions. Medium 354 is similar tomedium 154 except that medium 354 is operable in an additional mode inwhich closed-loop feedback is utilized to optimize or enhance signalquality by adjusting the height of roof 30 and sensor 34. Medium 354additionally comprise signal quality evaluation instructions 363 andcomprises roof actuation instructions 364 in place of roof actuationinstructions 164. Those instructions described above with respect tomedium 154 which are also found in medium 354 are numbered similarly.

Signal quality evaluation instructions 363 direct processor 152 toevaluate the performance of sensor 34. Such performance may be in theresolution of the signals received from sensor 34, the reliability ofdeterminations made using signals from sensor 34, image quality outputby sensor 34, illumination levels for capturing data by sensor 34 andthe like. Such performance may include the quality of the data acquiredby such sensors.

Roof actuation instructions 364 are similar to roof actuation structures164 except that roof actuation instructions 364 include an additionalset of instructions for when controller 15D is operating in a differentoperator selected mode in which the height of sensor 34 and roof 30 areautomatically adjusted so as to optimize performance by sensor 34. Roofactuation instructions 364 cause processor 152 to output control signalsadjusting the height of roof 30 and sensor 34. At each height, theperformance of sensor 34 is evaluated by instructions 363. Using closedloop feedback, the height of roof 30 is iteratively adjusted until theperformance of sensor 34 is within prescribed performance levels or, insome implementations, optimized. Depending upon the type of crop/foliagebeing sensed, lighting conditions, airborne contaminant/dust conditions,the height of the crop/foliage 172 being detected in the like, sensor 34may perform better at different heights. Medium 354 directs processor152 to automatically identify the best height for sensor 34 given suchconditions and to automatically output control signals causing actuator38 to locate roof 30 and sensor 34 at the particular determine height.

FIG. 10 is a flow diagram of an example actuator where roof controlmethod 400 that may be carried out by vehicle 120 including medium 354as described above. As indicated by block 404, the surroundings of avehicle are sensed with a sensor supported by a roof of the vehicle at afirst height. As indicated by block 408, the performance of the sensoris evaluated at the first height. As indicated by block 412, based uponthe detected performance, the sensor, supported by the roof, isautomatically moved to a second height, different than the first height.

FIGS. 11A-11C illustrate portions of an example vehicle 520, portions ofwhich are schematically represented. Vehicle 520 is in the form of atractor. Vehicle 520 comprises chassis 524, ground motive members 526,operator seat 528, operator controls 529, roof 530, height adjustablesupport 532, sensors 534-1, 534-2 (schematically shown) (collectivelyreferred to as sensors 534), actuator 38 and controller 150.

Chassis 524 comprises a framework and power source of vehicle 520. Thepower source may comprise an internal combustion engine, an electricmotor or a combination thereof. In the example illustrated, chassis 524further comprises a forwardly located bed 525 for carrying variousitems. Ground motive members 526 are illustrated as being in the form oftires. In other implementations, ground motive members 526 may comprisetracks.

Operator seat 528 is positioned below roof 530 rearward of operatorcontrols 529. Operator controls 529 may comprise a control consolesupporting a steering wheel which is underlies roof 530. In someimplementations, operator controls 529 may further comprise a joystick,a display screen, a touchscreen or other notification or input device.

Roof 530 covers and protects seat 528 and operator controls 529. Roof530 is movably supported by height adjustable support 532. In theexample illustrated, height adjustable support 532 comprises fourtelescopic bars or tubes which are movable between different extendedstates by actuator 38 (described above). In one implementation, actuator38 may comprise a hydraulic or pneumatic cylinder-piston assembly. Inother implementations, height adjustable support 532 and actuator 38 mayhave other forms as described above with respect to vehicle 20 orvehicle 120.

Sensors 534 are supported by roof 530. In one implementation, sensors534 are integrated into roof 530. In another implementation, sensors 534are mounted to roof 530 above or below roof 530.

Sensors 534 may be similar to sensor 34 described above. In someimplementations, sensors 534 may comprise a mix of passive and activesensors. Sensors 534 may include a mix of perception and proprioceptionsensors. Sensors 534 may include, but are not limited to, binocularcameras, stereo cameras, time-of-flight cameras, thermal cameras, Lidar,radar, sonar, inertial measurement units, magnetometers, weather sensors(temperature, humidity, pressure etc.) electromagnetic sensors(sunlight, radio etc.) or other task specific sensors for variousfarming, construction or other operations.

In the example illustrated, sensor 534-1 has a field-of-view forward ofvehicle 520 while sensor 534-2 has a field-of-view rearward of vehicle520. Sensors 534 provide signals to controller 150 providing informationregarding the surroundings of vehicle 520, such as the presence andheight of an overhead structure 170, the characteristics of crop/foliage172 and/or the height of foliage/crop 172. The characteristics of thecrop/foliage 172 that may be detected by sensors 534 may include, butare not limited to, the population of the crop, health of the crop,density of the crop, the presence of weeds within the crop and the like.

Controller 150 is described above with respect to vehicle 120. In oneimplementation, controller 150 comprises medium 154. In anotherimplementation, controller 150 comprise a medium 354. Controller 150 mayoutput control signals to actuator 38 causing actuator 38 to move roof530 and sensor 534 to a lowered state shown in FIG. 11B and to move roof530 and sensor 534 to a lowered state shown in FIG. 11C. As describedabove, roof 530 and sensors 534 may be raised and lowered automaticallyby controller 150 in response to vehicle 520 being loaded upon a traileror being towed by another vehicle as detected by sensors 534 or othersensors. Roof 530 and sensors 534 may be automatically raised andlowered by controller 150 to clear an upcoming overhead structure. Roof530 and sensors 534 may be automatically raised and lowered bycontroller 150 based upon the height or characteristics of thecrop/foliage. Roof 530 and sensors 534 may be automatically raised andlowered based upon a determined performance of sensors 534 such thatsensors 534 are supported at a height at which sensors 534 have improvedor enhanced performance. For example, roof 530 and sensors 534 may beraised or lowered to a height that offers sensors 534 with a superiorfield-of-view or that facilitates the sensing of tall crops. In someimplementations, the adjustment of roof 530 to enhance performance ofsensors 534 may be periodically carried out. For example, the adjustmentof roof 530 to enhance sensor performance be carried out once per field,once per row, or continuously in real time depending upon datacollection objectives.

FIGS. 12 and 13 are diagrams illustrating an example vehicle 620 in theform of a tractor. Vehicle 620 is similar to vehicle 520 described aboveexcept that vehicle 620 additionally provides gesture control for thepositioning of roof 630 and the sensors and indicators/displays itcarries. Vehicle 620 further comprises vehicle state and feedback system622. FIGS. 12 and 13 illustrate specific examples of sensors supportedby roof 630. Vehicle 620 comprises chassis 700, ground propulsionmembers 702, battery 704, and vehicle cab 706. Vehicle 620 furthercomprises lights 800, steering unit 802, propulsion unit 804, powertake-off (PTO) unit 806, hydraulic power unit 808, brakes 810 andauxiliary units 812.

Chassis 700 comprises a frame supporting the remaining components ofvehicle 620. In the example illustrated, chassis 700 comprises a frontcargo bed 708 for storing and transporting cargo. In the exampleillustrated, chassis 700 is further configured for connection to anattachment/implement 625. In the example illustrated, propulsion unit804 comprises an electric motor driven by electrical power supplied by abattery.

Ground propulsion members 702 comprise members that engage theunderlying terrain and which are driven by propulsion unit 804. In theexample illustrated, ground propulsion members 702 comprise rear wheels710 and front wheels 712. In the example illustrated, rear wheels 710are driven by propulsion unit 804 while front wheels 712 are manipulatedor turned by steering unit 802. In other implementations, groundpropulsion members 702 may comprise tracks or other ground engagingmembers.

Battery 704 comprises a battery unit that is removably received within acorresponding chamber or cavity extending rearwardly from the front ofchassis 700. Battery 704 mates with a corresponding connection interfacefor transferring electrical power from battery 704 to the electricallypowered components of vehicle 620. In other implementations, battery 704may be located at other locations. In other implementations, battery 704may be fixed and non-swappable or not removable. In the exampleillustrated, battery 704 electrically powers propulsion unit 804 whichdrives rear wheels 710. In the example illustrated, battery 704electrically powers hydraulic motors or pumps of hydraulic power unit808, steering unit 802 and brakes 810. Battery 704 additionally powerslights 800, attachment/implement 625, and auxiliary units 812.

Cab 706 comprises a compartment in which an operator may be seated whenoperating vehicle 620. Cab 706 comprises a seat 713, a steering wheel716, a control console 718, and a roof 630. Roof 630 extends over seat713 and control console 718. Roof 630 is movably supported by heightadjustable support 532 (described above). In the example illustrated,height adjustable support 532 comprises four telescopic bars or tubeswhich are movable between different extended states by actuator 38(described above). In one implementation, actuator 38 may comprise ahydraulic or pneumatic cylinder-piston assembly. In otherimplementations, height adjustable support 532 and actuator 38 may haveother forms as described above with respect to vehicle 20 or vehicle120.

Lights 800 comprise lights supported by vehicle 620 for providingillumination about vehicle 620 or for providing alerts or notificationsfor vehicle 620. Steering unit 802 comprises electrical and/or hydrauliccomponents and associated controllers that effectuate turning of thewheels, tracks, or the like to steer forward or rearward travel ofvehicle 620. Propulsion unit 804 comprises an internal combustionengine, electric motor, transmission, and associated controllers forcontrolling the forward and rearward propulsion of vehicle 620. PTO unit806 comprises an electrical, hydraulic, or mechanical drive andassociate controllers for rotating the power take off (such as aprojecting spline) for supplying torque to a fitting associated with anattachment or implement. Hydraulic power unit 808 comprises hydraulicpumps, valves, and associated controllers for supplying pressurizedhydraulic fluid to portions of vehicle 620 or to attachments/implementspowered by such pressurized hydraulic fluid from vehicle 620. Brakes 810comprise devices for braking, slowing down the propulsion of vehicle620. Auxiliary units 312 comprise movable or actuator components ofvehicle 620, such as in circumstances where vehicle 620 is not atractor, but another vehicle such as a harvester. For example, auxiliaryunits 312 may comprise discharge spouts of a harvester, wherein thepositioning of the discharge spout and/or the rotation of an auger ofthe discharge spout are adjustable.

Attachment/implement 625 comprises an attachment carried by vehicle 620and/or an implement being pushed or pulled by vehicle 620. An attachmentmay be in the form of a bucket, blade, harvester head or the like.Examples of an implement may include any of a variety of implement suchas wagons, carts, plows, discs, choppers, balers, sprayers, and thelike. As discussed above, vehicle actions may involve repositioning suchattachments or implements or adjusting the supply of power to suchattachments or implements.

As with vehicle 520, vehicle 620 includes sensors that are supported andcarried by a height adjustable roof. In the example illustrated, suchsensors comprise cameras 634-1 (shown in FIG. 12), 634-2 (shown in FIG.13) and 634-3 (shown in FIG. 15) (collectively referred to as cameras634). Cameras 634 capture images of operator control gestures as well asthe surrounding environment and output signals to processor 652. Camera634-1 extends on a front edge of roof 630 to capture regions in front ofvehicle 620. Camera 634-2 extends on a rear edge of roof 630 to captureimages of regions rearward of vehicle 620. Cameras 634-3 extend onunderside of roof 630 to capture side regions of vehicle 620.

Camera 634 capture images that are analyzed by processor 652 usingoptical recognition techniques such as segmentation and the like todistinguish objects, their positioning relative to vehicle 620, andtheir operational states. As discussed above with respect to sensors 534provide signals to processor 652 providing information regarding thesurroundings of vehicle 620, such as the presence and height of anoverhead structure 170, the characteristics of crop/foliage 172 and/orthe height of foliage/crop 172. The characteristics of the crop/foliage172 that may be detected by sensors 534 may include, but are not limitedto, the population of the crop, health of the crop, density of the crop,the presence of weeds within the crop and the like. As will be describedhereafter, camera 634 may further capture images and output signalsidentifying the positioning of an operator as well as input gesturesfrom and by the operator. In some implementations, camera 634 maycomprise a mix of perception and proprioception sensors. Camera 634 mayinclude, but are not limited to, binocular cameras, stereo cameras,time-of-flight cameras, and thermal cameras. In some implementations,vehicle 620 may include additional or fewer cameras at the same ordifferent locations and alternative forms of sensors. For example, insome implementations, vehicle 620 may include additional or other typesof sensors supported by roof 630 such as Lidar, radar, sonar, inertialmeasurement units, magnetometers, weather sensors (temperature,humidity, pressure etc.) electromagnetic sensors (sunlight, radio etc.)or other task specific sensors for various farming, construction orother operations.

Signals from camera 634 may be further utilized to sense a height ofroof 630. In some implementations, the height of roof 630 may bedetermined by processor 652 using signals from other sensors that sensea state of height adjustable support 532. In some implementations, theheight of roof 630 may be determined by processor 652 based upon thestate of actuator 38. For example, the degree of extension of ahydraulic are pneumatic cylinder-piston assembly may also indicate theheight of roof 630. In some implementations, the height of roof 630 maybe sensed or determined from an actuator encoder, a mechanical travelsensor, and inertial measurement device and a roof perception sensor

Processor 652 utilizes data are information provided by camera 634 (andany other sensors supported by roof 630) to automatically controloperations of vehicle 620 and/or attachment/implement 625. In someimplementations, processor 652 utilizes the information from camera 634(and any other sensors supported by roof 630) to operate vehicle 620and/or attachment/implement 625 in an autonomous manner, without humanintervention or real-time input. In some implementations, vehicle 620facilitates remote operator control, control of vehicle 620 and/orattachment/implement 625 by an operator not residing in cab 706 or notriding vehicle 620. For example, vehicle 620 and/or attachment/implement625 may be remotely controlled by an operator walking alongside, behindor in front of vehicle 620. In some implementations, control inputs maybe provided to vehicle 620 and/or attachment/implement 625 usingwireless signals transmitted from a portable electronic device carriedby the remote operator, such as a smart phone, computer notebook,computer pad or other device capable of transmitting wireless signals.

In the illustrated example, vehicle 620 is configured to facilitateremote operator control, control from an operator walking alongside,behind or in front of vehicle 620. In the example illustrated, vehicle620 additionally comprises vehicle state and feedback system 722.Vehicle state and feedback system 722 comprises indicators 670-1, 670-2,670-3, 670-4 (collectively referred to as indicators 670), indicator672, indicator 674, and state/feedback instructions 676. Indicators 670comprise display screens located at the four corners of roof 630.Indicators 670-1 and 670-2 face in a forward direction and are angledtowards their respective opposite sides of vehicle 620. Indicators 670-3and 670-4 face in a rearward direction and are angled towards theirrespective opposite sides of vehicle 620. Indicators 670 presentgraphics and text which may be viewed by the operator 642 at variouspositions about vehicle 620.

Indicator 572 comprises an elongate bar or strip that wraps around afront of the hood 601 and the sides of hood 601 of vehicle 620, whereinthe bar or strip may be selectively illuminated under the control ofprocessor 652. In some implementations, indicator 572 is actuatedbetween an illuminated and a non-illuminated state to provide feedbackto the operator 642 who may be remote from vehicle 620, not within cab706. In some implementations, indicator 572 was actuatable betweendifferent colors or shades of colors to provide status information tooperator 642. In some implementations, indicator 572 is actuatablebetween different brightness levels or is actuatable so as to flash orflash at different frequencies to provide status information to theremote operator 642.

Indicators 674 comprise speakers/microphones. In the exampleillustrated, indicators 674 are located on underside of roof 630proximate steering console 718. Indicators 674 provide audible statusinformation to an operator remote from vehicle 620. In someimplementations in which indicators 674 also serve as microphones,indicators 674 may serve as input devices for the remote operator,whereby the operator may provide audible instructions or commands andwherein processor 652 uses speech recognition to identify such commandsand carry out such commands.

In some implementations, lights 726 may serve as additional indicators,wherein a color, brightness, blinking frequency, or the like of suchlights 726 may be controlled to provide status information to theoperator 642. In some implementations, additional visible indicators,such as light emitting diode lights, light bars or the like may beutilized to provide status information based upon the current state ofvehicle 620, its implements 625, its components 800, 802, 804, 806, 808,810, 812 and/or the positioning of operator 642 or the positioning ofimplement 625 as based upon images captured by cameras 634.

State/feedback instructions 676 comprise software, code or logicelements on a circuit board provided in the non-transitorycomputer-readable medium 654. Instructions 568 direct processor 652 tooutput various control signals controlling the actuation or state ofindicators 670, 572 and 674. For example, processor 652, followinginstructions 568, may indicate a first state of vehicle 620 by providingindicator 672 with a first brightness, color, on/off state and/orblinking frequency and may indicate a second different state of vehicle620 by providing indicator 672 with a second different brightness,color, on/off state and/or blinking frequency. For example, indicator672 may be illuminated to have a green color when traveling forward andilluminated to have a red color when stopped. By way of another example,indicator 572 may be illuminated to have a green color when the powertakeoff is operating or when an implement is being powered and may havea red color when the power takeoff is no longer operating or when animplement is no longer being powered or driven.

Processor 652, following instructions 568, may indicate a first state ofvehicle 620 or second state of vehicle 620 by displaying graphics ortext on one or multiples of indicators 670. Such status informationprovided by indicators 670, 572, and 674 may include the speed or rateat which the vehicle is traveling, the speed or state of an implementand/or the state of any of lights 800, steering unit 802, propulsionunit 804, PTO unit 806, brakes 810 and/or auxiliary units 812. Suchfeedback or status information provided by indicators 670, 572 and 574may include a confirmation of receipt or capture of gestures from theoperator (either operator anatomy 644 and/or input device 648), aconfirmation of recognition of such gestures, an indication that suchcommands are about to be executed, a request for the operator to repeatsuch gestures or to move so as to be more centrally located within thefield of view of cameras 634 when providing such gestures, or anindication that the commands associated with such gestures will not becarried out given the current state of vehicle 620 or the operator'sposition relative to vehicle 620 and/or its implements. Differentindicators may be utilized to provide different types of statusinformation to the operator.

In one implementation, processor 652, following instructions containedin medium 654, utilizes images from camera 634-1 to identify thepositioning of rows of plants and to output control signals to steeringunit 802 and propulsion unit 804 to automatically drive vehicle 620 (andany attachment/implement 625) between and along the rows of plants (suchas crop plants, trees and the like). In one implementation, processor652, following instructions contained in medium 654, utilizes imagesfrom camera 634-1 to identify the positioning or location of operator642 and the movement of operator 642. Processor 652, following theinstructions contained in medium 654, may further block or allow othercommands from operator 642 (based upon input gestures) based upon theposition or movement of operator 642. In some implementations, processor652, following instructions contained in medium 654, may output controlsignals causing propulsion unit 804 and steering unit 802 to movevehicle 620 so as to follow the movement of operator 642 at apreselected or operator selected distance. In some implementations,processor 652 may control propulsion unit 804 and brakes 810 tosubstantially match the speed at which the operator is moving. In someimplementations, processor 652, following instructions contained inmedium 654, may utilize images captured by any of cameras 634 toidentify animals or other obstructions, wherein processor 652 outputscontrol signals to steering unit 802 and propulsion unit 804 to controlthe movement of vehicle 620 so as to avoid such animals or obstructions.In some implementations, processor 652 may utilizes signals from any ofcameras 634 to control the lighting provided by lights 624, 626. In someimplementations, processor 652 may utilize the signals from any ofcameras 634 and additional signals from a provided global positioningsystem to automatically, without operator intervention, drive vehicle620 to and from a worksite or field, to or from a storage lot, shed,garage or the like (a home location) for vehicle 620 or to or from acharging site or location for charging battery 704.

In some implementations, processor 652 may utilize the identifiedpositioning of operator 642 or of animals or other obstructions so as tocontrol brakes 810, PTO unit 806, auxiliary units 812 orattachment/implement 625. For example, in one circumstance, theattachment/implement 625 may comprise a sprayer spraying herbicides,insecticides, fungicides or the like. In response to the detection ofthe presence of an operator or animal, processor 652 may temporarilycease the movement of vehicle 620 and/or the spraying operation untilthe operator or animal is a predefined distance from the vehicle 620 orits implement 625. In some implementations, processor 652 mayautomatically cease the operation of power take off 623 in response toimages from cameras 634 indicating that the operator, another person, oran animal are within a predefined distance from the power take off 623.In some implementations, processor 652, following instructions containedin medium 654, may utilize images captured by any of cameras 634 (plusany other sensors divided on vehicle 620) to control the actuation of anattachment/implement 625. For example, processor 652 may identify thevarious locations of feed troughs and may control the actuation of anauger or other device of a pulled or attached implement 625 to unloadfeed at particular times and locations into the feed troughs. As aresult, processor 652 facilitates the automation of tasks.

In some implementations, indicators 670 or 672 may provide informationto an operator 642 in circumstances where the operator's currentidentified position would prevent him or her from viewing or determiningsuch information. For example, an operator positioned at the front ofvehicle 620 may be fired with information on indicators 670-1 or 670-2about the state of an implement 625 at the rear of vehicle 620. Anoperator positioned at the rear of vehicle 620 or at one side of vehicle620 may be provided with status information on selected indicators 670about the state of an implement, another operator or environment at thefront of vehicle 620 or at the other side of vehicle 620. As a result,vehicle 620 provides an operator remote from vehicle 620 withinformation that may not otherwise be viewable given the operator'scurrent position relative to vehicle 620.

In the example illustrated, vehicle 620 facilitates the control ofvehicle 620 and/or attachment/implement 625 based upon input gesturesfrom a remote operator 642 (standing alongside, behind or in front ofvehicle 620). Cameras 634 capture images or video of such gestures andinterpret such gestures as particular input commands and/or requests forinformation to be provided by indicator 670. The association ofparticular gestures to particular inputs/commands may vary dependingupon what particular attachment implement is coupled to vehicle 620and/or the current state of the particular attachment or implementcoupled to vehicle 620. The same direct or indirect gesture may beassociated with different commands depending upon the particularattachment or implement coupled to vehicle 620 and/or the current stateof the particular attachment or implement coupled to vehicle 620. Forexample, in some implementations, images from cameras 634 may be used byprocessor 652 to identify the particular attachment or implement 625coupled to vehicle 620, wherein processor 652 will interpret the sameinput gestures differently depending upon the identified attachment orimplement 625 coupled to vehicle 620.

The direct gestures provided by operator 642 may be provided by theoperator's anatomy 644, such as a movement or positioning of theoperator's hands, fingers, legs, torso, or the like. The movement,positioning/orientation of the operator's anatomy 644 may serve as input646 which is sensed by at least one of cameras 634. Indirect gesturesinitiated by operator 642 may involve the movement and/or positioning ofan input device 648 which serves as input 646. The input device 648 maycomprise a flag, a baton, a smart phone or other handheld or portablephysical structure that may be manually manipulated by the operator 642and that is recognizable by cameras 634.

In the example illustrated, input device 648 comprises a handheld deviceto be manually manipulated, moved, or positioned by operator 642. Inputdevice 648 comprises a first face 830 having an input identifier 832.Input identifier 832 is recognizable by a camera 634 and processor 652following input recognition instructions 58. In some implementations,input identifier 832 may comprise flashing lights, particular patternsor shades of the color or other characteristics readily perceptible bycameras 634 to facilitate the sensing of the positioning and/or movementof input device 648.

Input device 648 additionally comprises a second opposite face 834having a display 836. In one implementation, signals from a camera 634may be transmitted to input device 648, wherein a depiction of theregion surrounding vehicle 620, based upon such signals, is presented ondisplay 836. The captured images may be transmitted to input device 648and presented on display 836. As a result, the operator 642 providingremote commands to vehicle 620 may make such gestures and provide suchcommands based upon not only on his or her perspective which is remotefrom vehicle 620 but also based upon the perspective of the camera 634or taken from the perspective of vehicle 620. Thus, the operator maymake a more informed decisions regarding such remote commands. In oneimplementation, input device 648 may comprise a smart phone thatwirelessly communicates with the controller provided by processor 652and medium 654, wherein the positioning or movement of the smart phoneserves as a remote gesture for providing remote commands to vehicle 620.

To carry out such gesture recognition, additionally comprises or is inwireless communication input-action store 814, authorization store 816,operator identification and authorization instructions 818, input deviceidentification and authorization instructions 820, remote operator inputsensing instructions 822, input recognition instructions 824, operatorposition identification instructions 826, and input response controlinstructions 828.

Input-action store 814 comprises one or more databases or lookup tableslinking various sensed gestures (direct or indirect) to associatedrequests or commands for vehicle actions.

Authorization store 816 comprises one or more databases or lookup tablesidentifying preauthorized operators and/or preauthorized input devices648 for providing gestures for inputting requests or commands forvehicle actions. For example, authorization store 816 may comprisephotographs of authorized operators 642, wherein authorization of anoperator may be determined by comparing captured images of a candidateoperator 642 and the photographs contained in the store 816.Authorization store 816 may comprise a pre-assigned set of passwords,wherein authorization for an operator 642 or an input device 648 may bedetermined by comparing a received password input through indicator 674to the authorization store 816. Authorization store 816 may comprisebarcode values or other signatures for authorize input devices 248.Input-action store 814 and authorization store 816 may be contained onmedium 654 carried by vehicle 620 or may be stored in a remote memory orserver, wherein vehicle 620 accesses stores 814, 816 through a wirelesscommunication connection with the remote memory or server.

Operator identification and authorization instructions 818 compriseinstructions for directing processor 652 to identify and authorize acandidate operator 642 for providing direct gestures for providingremote control commands for vehicle 620. Instructions 818 may direct atleast one of cameras 634 or an alternative sensor, to capture images ofoperator 642 and then compare the received information or data toinformation found in authorization store 816. Based on such comparison,the operator 642 may be authorized for providing direct gestures for usein remotely controlling vehicle 620.

Input device identification and authorization instructions 820 compriseinstructions for directing processor 652 to identify and authorize acandidate input device 648 providing direct gestures for providingremote control commands for vehicle 620. Instructions 820 may direct acamera 634 or an alternative sensor, to capture images a barcode orother indicia of input device 648, or to receive anidentification/authorization signal from input device 648, and thencompare the received information or data to information found inauthorization store 816. Based on such comparison, the input device 648may be authorized for providing indirect gestures for use in remotelycontrolling vehicle 620.

Operator position identification instructions 826 comprise instructionsthat direct processor 652 to identify the positioning of the remoteoperator 642 relative to vehicle 620. Based upon the determined relativepositioning, such instructions may further direct processor 652 toeither outputting notification to the operator 642 recommending that theoperator move relative to the vehicle or automatically interrupt therequested vehicle action corresponding to the sensed operatorinput/gesture. In such a fashion, instructions 826 may prevent vehicleactions from being carried out when the operator may be too close or outof position with respect to vehicle 620 for the vehicle action beingrequested.

Input response control instructions 828 comprise instructions configuredto output control signals to various actuators or the like of vehicle620 to cause vehicle 620 to carry out the particular vehicle actioncorresponding to the sensed input as determined by instructions 828.Examples of various vehicle actions that may be associated withparticular gestures (direct or indirect) from operator 642 in which maybe carried out in response thereto include, but are not limited tovehicle actions consisting of: forward velocity, backward velocity,left/right direction, braking, lights (nightlights, running lights,spotlights), signal, sound (horn, loudspeaker), warning (flashinglights, hazard lights), implement specific actions (left sprayer on/off,right sprayer on/off, left implement wing raising and lowering, rightimplement wing raising and lowering, power take-up, moving a dischargespout, changing operational speed of the auger of a discharge spout,turning on/off of a power take off, adjusting a speed of the powertakeoff, raising/lowering an attachment to the vehicle (such as abucket, fork or the like), adjusting the supply of hydraulic fluid orhydraulic power to implement or attachment, raising/lowering a threepoint hitch in the like.

In the example illustrated, vehicle 620 facilitates remote operatorcontrol over the height of roof 630 as well as the height of cameras634, lights 726 and indicators 670. A remote operator may provide input646 in the form of gestures which are captured by cameras 634 in whichare recognized by processor 652, wherein the input 646 causes actuators38 to raise or lower roof 630. As a result, roof 630 may be raised orlowered by a remote operator 642 to reposition camera 6344 enhancedimage capture based upon varying crop and environment conditions. Roof630 may be raised or lowered by remote operator 642 to alter thepositioning of lights 7262 very illumination of regions around vehicle620. Roof 630 may be raised or lowered by remote operator 642 to varythe height of indicators 670 to facilitate better viewing by theoperator. In some implementations, processor 652 may automatically raiseor lower roof 630 based upon the relative location of operator 642 tovehicle 620 as determined from images captured by cameras 634.

As schematically shown in FIG. 12, in some implementations, each ofcameras 634 may have an associated actuator 817 which may reorient thefocal point our aim of the associated camera 634. In suchimplementations, and operator 642 may provide input 646 in the form ofgestures which are recognized by processor 652 in which cause processor652 top control signals causing actuator 8172 reorient a selected one ormultiples of cameras 634. As a result, an operator may control the fieldof view of the individual camera 634. In some implementations, controlover the field-of-view of cameras 634 may be adjusted in other fashionsuch as by an operator within cab 706 or a remote operator using aremote portable electronic device or other remote control. In someimplementations, the orientation of a camera 634 may be automaticallyadjusted by processor 652 (following instructions contained in medium654) based upon prior data acquired by camera 634, based upon anexisting operational state of the various components 800, 802, 804, 806,808, 810, 812 of vehicle 620, based upon an existing operational stateof attachment/implement 625 and/or based upon a newly received input 646or command that is to be carried out regarding an operational state ofat least one of the various components 800, 802, 804, 806, 808, 810, 812of vehicle 620.

In some implementations, the state of indicators 670 and camera 634 maybe further automatically adjusted based upon information sensed bycameras 634 or other sensors carried by roof 630. For example, imagesfrom camera 634 may be utilized to determine a level of ambientlighting. In other implementations other types of sensors may besupported by roof 630 or other portions of vehicle 620 sensing thedegree of ambient lighting (different ambient lighting such as late inthe day, middle of the day, at night). Based upon the determined levelof ambient lighting, the brightness of indicators 670 may beautomatically adjusted. Based upon the determined ambient lighting,operational characteristics of camera 634 may be automatically adjusted.

Overall, each of the above vehicles 20, 120, 520 and 620 may provide aroof having a lower profile enabling the vehicle to be moved inside of asmaller more efficient truck or vehicle. When carried on a trailer, thelower roof height may reduce aerodynamic drag and the risk of collisionwith overhead obstacles. The use of the sensors supported by the roofsenable storage of the vehicle in a low height garage, shed or barn whilenot compromising sensor functionality during storage. When operatingwithout a driver, such roof height adjustment may facilitate automaticadjustment to optimize field-of-view and avoid occlusions caused byfoliage. The height adjustment may also enable the same vehicle to seeover tall crops, like corn, while maneuvering under overhang obstacles,like tree branches, or in vineyards.

The example vehicles may provide cost-effective, efficient andenvironmentally friendly transportation and storage of a vehicle thatutilizes both rollover protection systems and roof mounted sensors. Theexample vehicles facilitate the acquisition of sensor data in fieldswith a minimum set of sensors despite the presence of occluding foliageand growing plants which may change in height. The example vehicles mayprovide the ability to operate in proximity to both overhead obstaclesand tall obstructions without the use of separate dedicated pieces ofequipment.

The example vehicles provide the following particular advantages:

1. Reduced sensor count and cost through intelligent adjustment ofsensor height.2. Increased options for and efficiency of transport.3. Increased options for storage in enclosed spaces with low roofheights, while not compromising sensor field of view or performance.4. Greater operational domains for a single hardware configuration.5. When in the low roof height configuration, personnel working inproximity to the vehicle are provided with a distinct visual indicatorsor autonomous operations, to likely increase safety and situationalawareness for these personnel.6. Improved value and relevance of data collected by the sensors,particularly perception sensors, via automatic adjustment of roof heightbased on processing of the acquired perception data.

Although the present disclosure has been described with reference toexample implementations, workers skilled in the art will recognize thatchanges may be made in form and detail without departing fromdisclosure. For example, although different example implementations mayhave been described as including features providing various benefits, itis contemplated that the described features may be interchanged with oneanother or alternatively be combined with one another in the describedexample implementations or in other alternative implementations. Becausethe technology of the present disclosure is relatively complex, not allchanges in the technology are foreseeable. The present disclosuredescribed with reference to the example implementations and set forth inthe following claims is manifestly intended to be as broad as possible.For example, unless specifically otherwise noted, the claims reciting asingle particular element also encompass a plurality of such particularelements. The terms “first”, “second”, “third” and so on in the claimsmerely distinguish different elements and, unless otherwise stated, arenot to be specifically associated with a particular order or particularnumbering of elements in the disclosure.

What is claimed is:
 1. A vehicle comprising: a chassis; ground motivemembers supporting the chassis; a seat; a roof above the seat; a heightadjustable support supporting the roof; a sensor supported by the roof;and an actuator for selectively raising and lowering the roof.
 2. Thevehicle of claim 1, wherein the sensor comprises an environmental sensorto sense surroundings about the vehicle.
 3. The vehicle of claim 1,wherein the sensor comprises a sensor to sense positioning of the roof.4. The vehicle of claim 1 further comprising a controller, wherein thesensor is to output signals indicating a height of surroundings withrespect to the vehicle and wherein the controller controls the actuatorto adjust a height of the roof based upon the height of the surroundingsas determined from the signals.
 5. The vehicle of claim 1 furthercomprising a controller, wherein the sensors outputs signals indicatinga height of foliage and wherein the controller controls the actuator toadjust the height of the roof based upon the height of the foliage asdetermined from the signals.
 6. The vehicle of claim 1 furthercomprising an operator seat, wherein the roof is movable between araised position spaced above the operator seat by a first distance forthe operator seat to receive an operator and a lowered position spacedabove the operator seat by second distance of less than 3 feet.
 7. Thevehicle of claim 6, wherein the roof is movable between a second raisedposition spaced above the operator seat by a third distance greater thanthe first distance.
 8. The vehicle of claim 1 further comprising acontroller, wherein the controller is to automatically control theactuator to iteratively adjust the height of the roof based upon signalquality from the sensor.
 9. The vehicle of claim 1, wherein the roof ismovably supported by a height adjustable support selected from a groupof height adjustable supports consisting of: telescopic tubes, a pivot,a multiple link pivot, and a four-bar linkage.
 10. The vehicle of claim1 further comprising a height sensor selected from a group of heightsensors consisting of: an actuator encoder, a mechanical travel sensor,an inertial measurement device and a roof perception sensor.
 11. Thevehicle of claim 1, wherein the sensor comprises a sensor selected froma group of sensors consisting of: an ocular camera, stereo cameras,time-of-flight cameras, thermal cameras, lidar, radar, sonar, initialmeasurement units, magnetometers, weather sensors, and electromagneticsensors.
 12. The vehicle of claim 1 further comprising a controller anda second sensor to output signals indicating presence of the vehicle ona trailer, and the controller is configured to cause the actuator toautomatically lower the roof in response to the signals indicatingpresence of the vehicle on the trailer.
 13. The vehicle of claim 1, theactuator comprises an actuator selected from a group of actuatorsconsisting of: an electric motor, a hydraulic motor, and a pneumaticactuator.
 14. The vehicle of claim 1 further comprising: a processor;and a non-transitory computer-readable medium containing instruction todirect the processor, the instructions comprising: remote operator inputsensing instructions to obtain a sensed input sensed by the sensor froman operator remote from a vehicle; input recognition instructions torecognize and associate the sensed input with a vehicle action; andinput response control instructions to output control signals to thevehicle to cause the vehicle to carry out the vehicle action.
 15. Anon-transitory computer-readable medium containing instructions fordirecting a processor, the instructions comprising: sensing instructionsfor directing the processor to obtain signals from a sensor carried by aroof of a vehicle and indicating characteristics of surroundings of thevehicle; height determining instructions for directing the processor todetermine a height for the roof based upon the signals; and roofactuation instructions for directing the processor to automaticallyoutput control signals causing an actuator to move the roof to thedetermined height.
 16. The medium of claim 15, wherein the heightdetermining instructions further direct the processor to determine theheight for the roof based additionally upon a signal quality from thesensor.
 17. A non-transitory computer-readable medium containinginstructions for directing a processor, the instructions comprising:sensing instructions for directing the processor to obtain signals froma sensor carried by a roof of a vehicle and indicating characteristicsof surroundings of the vehicle; signal quality evaluation instructionsfor evaluating a quality of signals from the sensor; height determininginstructions for directing the processor to determine a height for theroof based upon the quality of the signals from the sensor; and roofactuation instructions for directing the processor to automaticallyoutput control signals causing an actuator to move the roof to thedetermined height.